Danyang Zhang

Unmanned Aerial Vehicle (UAV) path planning research refers to the UAV automatically planning an optimal path to the destination under the corresponding environment, while avoiding collision with obstacles in this process. In order to solve the problem of 3D path planning of UAV in a dynamic environment, a heuristic dynamic reward function is designed to guide the UAV. We propose the Environment Exploration Twin Delayed Deep Deterministic Policy Gradient (EE-TD3) algorithm, which combines the symmetrical 3D environment exploration coding mechanism on the basis of TD3 algorithm. The EE-TD3 algorithm model can effectively avoid collisions, improve the training efficiency, and achieve faster convergence speed. Finally, the performance of the EE-TD3 algorithm and other deep reinforcement learning algorithms was tested in the simulation environment. The results show that the EE-TD3 algorithm is better than other algorithms in solving the 3D path planning problem of UAV.

This paper investigates the path planning problem of an unmanned aerial vehicle (UAV) for completing a raid mission through ultra-low altitude flight in complex environments. The UAV needs to avoid radar detection areas, low-altitude static obstacles, and low-altitude dynamic obstacles during the flight process. Due to the uncertainty of low-altitude dynamic obstacle movement, this can slow down the convergence of existing algorithm models and also reduce the mission success rate of UAVs. In order to solve this problem, this paper designs a state detection method to encode the environmental state of the UAV’s direction of travel and compress the environmental state space. In considering the continuity of the state space and action space, the SD-TD3 algorithm is proposed in combination with the double-delayed deep deterministic policy gradient algorithm (TD3), which can accelerate the training convergence speed and improve the obstacle avoidance capability of the algorithm model. Further, to address the sparse reward problem of traditional reinforcement learning, a heuristic dynamic reward function is designed to give real-time rewards and guide the UAV to complete the task. The simulation results show that the training results of the SD-TD3 algorithm converge faster than the TD3 algorithm, and the actual results of the converged model are better.

Image registration is the base of subsequent image processing and has been widely utilized in computer vision. Aiming at the differences in the resolution, spectrum, and viewpoint of infrared and visible images, and in order to accurately register infrared and visible images, an automatic robust infrared and visible image registration algorithm, based on a deep convolutional network, was proposed. In order to precisely search and locate the feature points, a deep convolutional network is introduced, which solves the problem that a large number of feature points can still be extracted when the pixels of the infrared image are not clear. Then, in order to achieve accurate feature point matching, a rough-to-fine matching algorithm is designed. The rough matching is obtained by location orientation scale transform Euclidean distance, and then, the fine matching is performed based on the update global optimization, and finally, the image registration is realized. Experimental results show that the proposed algorithm has better robustness and accuracy than several advanced registration algorithms.